Extended Pose SE_k(3)

.github/copilot-instructions.md

@@ -4,8 +4,16 @@ For reviewing PRs:
 * Use meaningful variable names, e.g. `measurement` not `msm`, avoid abbreviations.
 * Flag overly complex or long/functions: break up in smaller functions
 * On Windows it is necessary to explicitly export all functions from the library which should be externally accessible. To do this, include the macro `GTSAM_EXPORT` in your class or function definition.
+* When adding or modifying public classes/methods, always review and follow `Using-GTSAM-EXPORT.md` before finalizing changes, including template specialization/export rules.
 * If we add a C++ function to a `.i` file to expose it to the wrapper, we must ensure that the parameter names match exactly between the declaration in the header file and the declaration in the `.i`. Similarly, if we change any parameter names in a wrapped function in a header file, or change any parameter names in a `.i` file, we must change the corresponding function in the other file to reflect those changes.
 * Classes are Uppercase, methods and functions lowerMixedCase.
 * Public fields in structs keep plain names (no trailing underscore).
 * Apart from those naming conventions, we adopt Google C++ style.
+* Notebooks in `*/doc/*.ipynb` and `*/examples/*.ipynb` should follow the standard preamble:
+  1) title/introduction markdown cell,
+  2) copyright markdown cell tagged `remove-cell`,
+  3) Colab badge markdown cell,
+  4) Colab install code cell tagged `remove-cell`,
+  5) imports/setup code cell.
+  Use the same `remove-cell` tagging convention as existing notebooks so docs build and Colab behavior stay consistent.
 * After any code change, always run relevant tests via `make -j6 testXXX.run` in the build folder $WORKSPACE/build. If in VS code, ask for escalated permissions if needed.